Awarded among Top 30 Finalists of the NASA / AmericaMakes 3D Printed Habitat Challenge. Project by Canaan Skye Martin Done at the Sasakawa International Center for Space Architecture - Cullen College of Engineering - University of Houston Special thanks to: Olga Bannova Nejc Trost James Flores

1. Site Location: 01°55’ S 5°30’ W
PowerPlant
PUCHabitat
MoundtoMound
ConnectionTunnel
PowerLines
MartianAstronaut
PressurizedRover
3DPrinter/
Proceesor(3DP)
MaterialStorage
3DPrinted
Foundation
PuckRails
LandingPUC
Habitat
Dunesbeing
SweptUpbyMPSB
3DPrinter/
Processor(3DP)
Opportunity
RoverTracks
Multi-Purpose
ShoeBot(MPSB)
3DPrintedIron
PressureVessel
PrintHead
Photovoltaics
3DPrintedMound
Connectionto
FutureHabitat
Ancile-Hab: The Shield of MarsAncile-Hab: The Shield of Mars“Ancile” [an-“Ancile” [an-sahysahy-lee] - Roman - A Shield given by Mars to the Mortals - the Palladium of Rome.-lee] - Roman - A Shield given by Mars to the Mortals - the Palladium of Rome.
Site Selection:
Site Overview: Dune Fields & Explored Path
Site Imagery: Dune Quantity Increase on Volcanic Plain Large Dune Field
Scarce Dune Field
Small Dune Field
DuneVarietyLargeScarce
Medium Dune Field
Large Dune Field
Small
Dune
Field
OpO portunityyy RoRooveveveverr PaPaPaPaththththyp yp
7070700m0m0mm
VViVictctctctctctooroooriaiaa
CCrrrrataaaterr
Medium
Dune
Field
Medium
Dune
Field
Image Source: http://www.physics.sfasu.edu/astro/mars/marsmap.jpg
Image Source: Google Earth: Mars
Page 1 of 5 -- Team: NASA3DP-019
Image Source: http://mars.nasa.gov/mer/gallery/press/opportunity/20100929a/B2363-2365_CYL_br.jpg
Image Source: http://photojournal.jpl.nasa.gov/jpeg/PIA16572.jpg
Image Source: http://mars.nasa.gov/mer/gallery/press/opportunity/20090303a/site_B98_164_navcam_CYL_L_br.jpg
Image Source: http://mars.nasa.gov/mer/gallery/press/opportunity/20100625a/site_BAG_navcam_CYL_L_br.jpg
Image Source: http://mars.nasa.gov/mer/gallery/press/opportunity/20090320a/1798_site_B98_navcam_CYL_L_br.jpg
Exploration Area of the Opportunity Rover
A Pre-Explored Area with Detailed Analysis
A Stable, Solid, and Flat Volcanic PlainVast and Plentiful Dune Fields
Abundant and Easy to Access Resources
Near Scientific Sites of Interest
Weight%
Compounds that will remain as agregate within fused silicate
Compounds of interest for the two primary building materials
Compounds that will boil off at 3DP’s SOT and can be vented or saved
Compounds that will melt at 3DP’s SOT and can be saved for later printing
Material Opportunities:
Compound Density g/cm³ Mars % Melting Point °C Boiling Point °C
Al2O3
MgO
CaO
SO3
SiO2
Ni
Zn
Na2O
FeO
TiO2
3.95
3.58
3.35
1.92
2.65
8.908
7.14
2.27
5.745
4.23
2,072
2,852
2,572
16.9
1,600
1,455
419.53
1,132
1,377
1,843
2,977
3,600
2,850
45
2,230
2,730
907
1,950
3,414
2,972
9
7
7
6
5
4
3
2
2
1
Regolith composition, material properties, and power restrictions pushed the 3DP’s design to maintain the initial
processing Standard Operating Temperature (SOT) just above 1,600 °C to melt both SiO2 and FeO in preparation for
printing and more intensive material processing and refining. The silicate, being good in compression, will be fused
together and work as a “concrete substitute” using leftover materials as it’s agregate. The iron, being good in tension,
will be used as a “rebar substitute” and form strong tension straps.

2. Print Heads
Shoe-Strut
Shoe-Bot
Extendable
Truss
Drill
Supply Line
Line Support
Primary Struts
MPSBs Adjust Extendable Truss
MPSBs Detach to Mine
Print Head has Full
Range of Motion
Boom Pivots as
Printing Demands
MPSBs Return to
Deposit Material
Removable Storage
Input/Output Troughs
Power Line
Power Plant
Power Line Reel
Arm Joint
Pre-Heat Chamber
The 3D Printer/Processor
Material
Transfer
Multi-Purpose Shoe Bots
Elevation
Plan
Plan
Perspective
Rear Perspective
Elevation
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The 3D Printer/Processor (3DP) is the exterior workhorse of the
Ansile-Hab. It is the delivery point for all collected resources.
It is designed to have a modular evolvable chassis which will
accommodate material storage and processor augmentations.
After landing it is connected to the power plant and moved into
position by the Multi-Purpose Shoe Bots (MPSBs). Once
positioned, the 3DP will lock its primary struts and release the
MPSBs. The size of the boom provides access across a large
work area. This insures that one habitat can be printed to
completion without having to adjust the 3DP’s position nor
stop the material collection or printing processes.
Once the Pressure Vessel and Protective Mound
have been printed to completion, the MPSBs will
reconnect to the 3DP and relocate it to the site of
its next print. From there, the print process will
repeat and a colony will form. As the mission
continues, new technologies and devices will be
attached to the 3DP allowing it to print objects
in better detail with a larger variety of materials.
Material Storage
MPSB Systems
Batteries
Robotic Arm
Internal Material Conveyor
Swept Material Path
Photovoltaics
Sweep Motors
360° Independent Wheels
Collection Sweep - Material In
Side Sweep - Material Out of Path
Shoe-Strut
(Hidden)
Photovoltaics
Sweep Heads
Sweep Systems
Material Storage
Adjustable Height
Material Conveyor Sweep Brush
Rover Systems
Multi-Axis Arm
Arm Movement
Interchangeable Heads

3. Key Plan
Page 3 of 5 -- Team: NASA3DP-019
Oculus
Pre-Fabricated Truss
Tension & Systems
Branches
Sleeping Area
Pre-Fabricated Floor Trusses
Systems Space
Lab Equipment
Bulk Storage
Airlock with EVA Suits
Fluid Storage
3D Printed Ramp/Stairs
Systems TrunkLadder
3D Printed Silicate Mound
3D Printed Silicate ‘Web’
3D Printed Interior Iron Sphere
Air Tight Bladder
Storage & Systems
Systems Space
Suitlock Dust Porch
Rigid PUC Module
3rd Floor
Eating
Sleeping
Exercizing
Phoning Home
Relaxing
Creating
1st Floor
Exploring
Cleaning
Relieving
Storing
Recycling
ECLSS
EVA
Stairs
Robotic Interior 3D Print Arm
3D Printed Exterior Iron Sphere
Ancile-Hab Sections
Elevation ‘A’
Elevation ‘B’ Elevation ‘B’
Elevation
‘A’
Elevation
‘B’
2nd Floor
Working
Printing
Experimenting
Modifying
Documenting

4. Key Elevation
PUC
2nd
3rd
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Enclosable Bed Space
Private Storage
Systems Space
Kitchen Equipment
Food Storage
Moveable Seating
Lab
Communal Work Space
Telescoping Columns
Telescoping Column
Lift
Hatch to Expansion
ECLSS
Pop-Up Shower
Suit Locks
Stairs
EVA Suits
Airlock
ECLSS Systems
Storage
Lab
Storage
Work Space
Flexible Open Space
Movable Table
Tension Lines &
Systems Branches
Tension Lines &
Systems Branches
Folding TableShelf Space
Storage Space
Ancile-Hab Floor Plans
Level 3 (left) is a 46.86 m^2 mix of public
and private spaces. Crew quarters, the
galley, wardroom, gathering area,
exercise, recreational, and auxiliary
command are all located here. The floor
offers a combination of open and
enclosed areas that can be modified
according to the crew preferences and
necessity. Some elements can fold or lift
out of the way, such as the table and
beds, providing alternate paths or spaces.
Level 2 (right) is 27.69 m^2 and the
primary work space and is outfitted for
all lab missions. There are multiple lab
spaces to provide for the needs of the
multiple missions at the same time.
Storage and flexible work areas fill the
spaces between labs. The internal 3D
printer arm will primarily reside here after
it has printed the interior of the habitat.
Here it can change its head to participate
in science, maintenance, or repairs.
Level 1 (left) is the PUC, a 25.45 m^2
service floor where pre-integrated ECLSS,
hygiene, and other essential functions are
located. It has an airlock (with two EVA
suits) and two suitlocks (two additional
EVA suits) for egress operations of the
four crew members. There are two
hatches that can accommodate
connecting inflatable tunnels to other
Habs and facilities for future expansion.
3rd Floor
PUC Floor
2nd Floor
Private Storage
Systems Space
Storage & Systems
Moveable Seating
Systems Trunk
Lift
Lift
Lab
Work Space
Systems Trunk
Storage
Lab
Systems Space
Command Systems
Systems Trunk
PUC inside 3D Printed
Pressure Vessel
Storage Under Floor
Expandable
Restroom
Command & Control
46.86m^2
27.69m^2
25.45m^2

5. Ancile-Hab Section Perspective
Design Advantages
• Flexibility in design is critical and all elements are created to enable printing of a multitude of shapes and sizes.
• “Ancile” architecture ensures protection and capabilities for adjustment of the equipment to correspond with mission evolution
• The MPSBs work simultaneously with construction operations by constantly sweep-mining regolith dunes continuous printing.
• The process of sweep-mining regolith does not require complex digging machinery or advanced low-gravity mining equipment.
• The 3DP’s modular and evolvable framework allows augmentation to keep up with mission demands and ensure economical expansion.
• The PUC modules are “turn-key” habitats with ready-to-run systems integration and zero assembly required after their initial fabrication.
Evolution Growth
Key Plan
Aerial PerspectiveElevation Perspective
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